Table of Contents
International Journal of Navigation and Observation
Volume 2012, Article ID 731530, 11 pages
Research Article

Performance Analysis of Alignment Process of MEMS IMU

Faculty of Electronics and Telecommunication, Riga Technical University, 1019 Riga, Latvia

Received 31 May 2012; Revised 2 September 2012; Accepted 22 September 2012

Academic Editor: Jinling Wang

Copyright © 2012 Vadim Bistrov. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The procedure of determining the initial values of the attitude angles (pitch, roll, and heading) is known as the alignment. Also, it is essential to align an inertial system before the start of navigation. Unless the inertial system is not aligned with the vehicle, the information provided by MEMS (microelectromechanical system) sensors is not useful for navigating the vehicle. At the moment MEMS gyroscopes have poor characteristics and it’s necessary to develop specific algorithms in order to obtain the attitude information of the object. Most of the standard algorithms for the attitude estimation are not suitable when using MEMS inertial sensors. The wavelet technique, the Kalman filter, and the quaternion are not new in navigation data processing. But the joint use of those techniques for MEMS sensor data processing can give some new results. In this paper the performance of a developed algorithm for the attitude estimation using MEMS IMU (inertial measurement unit) is tested. The obtained results are compared with the attitude output of another commercial GPS/IMU device by Xsens. The impact of MEMS sensor measurement noises on an alignment process is analysed. Some recommendations for the Kalman filter algorithm tuning to decrease standard deviation of the attitude estimation are given.